Re: RGB-D SLAM example on ROS and Raspberry Pi 3

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-SLAM-example-on-ROS-and-Raspberry-Pi-3-tp1250p1263.html

Hi,

Make sure rtabmapviz is started in the same namespace than rtabmap (see above), so that topics are correctly connected. You can show rqt_graph to compare with the one shown above. The most important is that /rtabmap/mapData topic is connected and that it is published:

$ rostopic hz /rtabmap/mapData

If it is not published, look for warnings on RPi terminal.

For openni2, it is similar to freenect:

$ roslaunch openni2_launch openni2.launch depth_registration:=true

cheers